Posture adjustment device

Abstract

To provide a posture adjustment device that can properly adjust the posture of conveyed objects with various bottom shapes.SOLUTION: The posture adjustment device is equipped with a posture adjustment conveyor that is configured so that the conveying speeds of a first conveyor section 21 and a second conveyor section 22 adjacent to each other in a conveying width direction Y can be different from each other. The conveying surface of the first conveyor section 21 is configured to be inclined in the conveying width direction Y to become a lower side Z2 of a vertical direction Z as it moves toward a second side Y2 in the conveying width direction at a first end 71, and the inclination angle to the horizontal plane in the conveying width direction Y gradually decreases as it moves toward the second end 72. The conveying surface of the second conveyor section 22 is inclined in the conveying width direction Y to become lower in the vertical direction as it moves toward a first side Y1 in the conveying width direction at the first end 71, and the inclination angle with respect to the horizontal plane in the conveying width direction Y gradually decreases as it moves toward the second end 72.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a posture adjusting device that adjusts the posture of a transported object. [Background technology]

[0002] An example of such an attitude adjustment device is disclosed in Japanese Patent Laid-Open No. 2010-100398 (Patent Document 1). Patent Document 1 discloses an attitude adjustment device that adjusts the orientation of a rectangular or square object by imparting a speed difference between the left and right sides of the conveying direction on an attitude adjustment conveyor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-100398 Summary of the Invention [Problem to be solved by the invention]

[0004] The device described in Patent Document 1 is intended to adjust the posture of transported objects with flat bottom surfaces, but depending on the application of the posture adjustment device, it may be necessary to adjust the posture of multiple types of transported objects with different bottom shapes. However, the posture adjustment device described in Patent Document 1 did not take such points into consideration. As a result, even if a speed difference is applied to the left and right sides of the transport direction, posture change may be insufficient depending on the shape of the bottom surface.

[0005] Therefore, it is desirable to realize a technology that can appropriately adjust the posture of transported objects with various bottom shapes. [Means for solving the problem]

[0006] In view of the above, a characteristic configuration of a posture adjustment device that adjusts the posture of a transported object includes a posture adjustment conveyor that adjusts the posture of the transported object while transporting the transported object along a specified transport direction, a direction perpendicular to the transport direction being a transport width direction, the posture adjustment conveyor includes a first conveyor section and a second conveyor section that are arranged in parallel so as to be adjacent to each other in the transport width direction, and is configured so that the transport speed of the first conveyor section and the transport speed of the second conveyor section can be made different, the side of the transport width direction where the first conveyor section is arranged relative to the second conveyor section is a first side in the transport width direction, and the opposite side is a second side in the transport width direction, one of the upstream end and the downstream end of each of the conveyors is designated a first end, and the other is designated a second end, and the conveying surface of the first conveyor section is inclined in the conveying width direction so as to become vertically lower as it approaches a second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, and the conveying surface of the second conveyor section is inclined in the conveying width direction so as to become vertically lower as it approaches the first side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end. The posture adjustment conveyor further includes a third conveyor section disposed downstream of the first conveyor section, and a fourth conveyor section disposed downstream of the second conveyor section and on the second side in the conveying width direction of the third conveyor section, and is configured so that the conveying speed of the third conveyor section and the conveying speed of the fourth conveyor section can be made different, and one of the upstream end and the downstream end of each of the third conveyor section and the fourth conveyor section is designated as a third end, and the other is designated as a fourth end, and the third conveyor section the conveying surface of the fourth conveyor section is inclined in the conveying width direction so as to become lower in the vertical direction as it approaches the second side in the conveying width direction at the third end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end, and the conveying surface of the fourth conveyor section is inclined in the conveying width direction so as to become lower in the vertical direction as it approaches the first side in the conveying width direction at the third end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end. The reason is that...

[0007] According to this configuration, when the bottom surface of the transported object is curved so that it protrudes downward in the vertical direction, it is easier to ensure a large contact area between the bottom surface of the transported object and the conveying surface of the posture adjusting conveyor by inclining the conveying surface of the posture adjusting conveyor so that the vicinity of the boundary between the first conveyor section and the second conveyor section is at the bottom in the vertical direction. On the other hand, when the bottom surface of the transported object is flat or nearly flat, it is easier to ensure a large contact area between the bottom surface of the transported object and the conveying surface of the posture adjusting conveyor by making the conveying surface of the posture adjusting conveyor flat. According to this configuration, for transported objects whose bottom surface is curved so that it protrudes downward, appropriate posture adjustment can be performed in the section near the first end, and for transported objects whose bottom surface is flat or nearly flat, appropriate posture adjustment can be performed in the section near the second end. Therefore, appropriate posture adjustment can be performed for transported objects with various bottom shapes. Furthermore, the posture of the transported object can be changed not only on the first conveyor section and the second conveyor section but also on the third conveyor section and the fourth conveyor section, so that the posture of the transported object can be adjusted even more effectively.

[0008] Further features and advantages of the attitude adjustment device will become apparent from the following description of the embodiments, which is given with reference to the drawings. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a block diagram showing the control configuration of the attitude adjustment device of the first embodiment. [Figure 2] FIG. 2 is a top view of the attitude adjustment device of FIG. 1. [Figure 3] 1 as viewed from a first side Y1 in the conveyance width direction. [Figure 4] 1 as viewed from the second side Y2 in the conveyance width direction. [Figure 5] 2 is a front view of the first roller and the second roller of FIG. 1 as viewed from the upstream side X1. [Figure 6] FIG. 2 is a perspective view of the first roller and the second roller in FIG. 1. [Figure 7] FIG. 10 is a block diagram showing the control configuration of the attitude adjustment device of the second embodiment. [Figure 8] FIG. 8 is a top view of the attitude adjustment device of FIG. 7. [Figure 9] FIG. 10 is a block diagram showing a control configuration of the attitude adjustment device of the third embodiment. [Figure 10]10 is a side view of the first conveyor section and the third conveyor section of FIG. 9 as viewed from the first side Y1 in the conveyance width direction. [Figure 11] 10 is a side view of the second conveyor section and the fourth conveyor section of FIG. 9 as viewed from the second side Y2 in the conveyance width direction. [Figure 12] 10 is a front view of the third roller and the fourth roller of FIG. 9 as viewed from the upstream side X1. [Figure 13] 10 is a perspective view of the first roller, the second roller, the third roller, and the fourth roller in FIG. 9. [Figure 14] FIG. 11 is a side view of the second conveyor unit and the fourth conveyor unit in the attitude adjustment device of the fourth embodiment, as viewed from the second side Y2 in the transport width direction. DETAILED DESCRIPTION OF THE INVENTION

[0010] [First embodiment] An attitude adjustment device 10 according to a first embodiment will be described below with reference to the drawings. FIG. 1 is a block diagram showing the control configuration of the attitude adjustment device 10 of this embodiment. The attitude adjustment device 10 includes an attitude adjustment conveyor 20 that adjusts the attitude S of the conveyed object 11 while conveying the conveyed object 11 along a specified conveying direction X. FIG. 2 is a top view of the attitude adjustment conveyor 20. The conveyed object 11 is not particularly limited, but may be, for example, a plurality of pieces of luggage with different shapes, sizes, weights, etc. Preferably, the conveyed object 11 is baggage to be inspected at an airport. Here, the direction perpendicular to the conveying direction X is defined as the conveying width direction Y. Furthermore, the direction along the vertical direction is defined as the up-down direction Z. Furthermore, the upstream side X1 refers to the upstream side of the conveying direction X, and the downstream side X2 refers to the downstream side of the conveying direction X.

[0011] The posture S of the transported object 11 is at least an angle θ (°) when the transported object 11 is seen in a plan view. In this embodiment, the posture S of the transported object 11 is the angle θ when the transported object 11 is seen in a plan view and the position P (mm) of the transported object 11 in the transport width direction Y. The angle θ when the transported object 11 is seen in a plan view is, for example, an angle when seen in the up-down direction, and is the target angle θ when the transported object 11 is in the target posture Sr. R The angle of the transported object 11 when the angle is set to 0°. The position P of the transported object 11 in the transport width direction Y is, for example, the target position PR is set to 0 (mm). The target attitude Sr of the transported object 11 may be determined for each type of transported object 11. In the example of FIG. 2, the angle θ when the long side of the transported object 11 is parallel to the transport direction X is set as the target angle θ R That is, the target position P is set to 0 (°), and the position where the center position P of the transported object 11 when viewed in the vertical direction overlaps with the center of the posture adjustment conveyor 20 in the transport width direction Y is set to 0 (°). R That is, it is set to 0 (mm). Examples of the center of the transported object 11 include the center of gravity of the transported object 11 and the midpoint of the long and short sides of the transported object 11 (in other words, the intersection of the diagonals).

[0012] The posture adjustment conveyor 20 comprises a first conveyor section 21 and a second conveyor section 22 arranged side by side adjacent to each other in the conveying width direction Y, and the posture adjustment conveyor 20 is configured so that the conveying speed V1 (m / s) of the first conveyor section 21 and the conveying speed V2 (m / s) of the second conveyor section 22 can be made different.

[0013] Here, in the conveying width direction Y, the side where the first conveyor section 21 is arranged relative to the second conveyor section 22 is referred to as the conveying width direction first side Y1, and the opposite side is referred to as the conveying width direction second side Y2. In addition, one of the upstream end and the downstream end of each of the first conveyor section 21 and the second conveyor section 22 is referred to as the first end 71, and the other is referred to as the second end 72.

[0014] Fig. 3 is a side view of the first conveyor section 21 as viewed from the first side Y1 in the conveying width direction. Fig. 4 is a side view of the second conveyor section 22 as viewed from the second side Y2 in the conveying width direction. In this embodiment, the first conveyor section 21 includes a plurality of first rollers 23, and the second conveyor section 22 includes a plurality of second rollers 24. Fig. 5 is a front view of the first rollers 23 and the second rollers 24 as viewed from the upstream side X1 in the conveying direction X. Fig. 6 is a perspective view of the first rollers 23 and the second rollers 24.

[0015] 3, 5, and 6, the conveying surface 21a of the first conveyor section 21 is inclined in the conveying width direction Y at the first end 71 so as to be downward Z2 in the up-down direction Z as it moves toward the second side Y2 in the conveying width direction, and is configured so that the inclination angle φ1 with respect to the horizontal plane in the conveying width direction Y gradually decreases as it moves toward the second end 72. In this embodiment, as shown in FIG. 1, the first conveyor section 21 is a roller conveyor in which a plurality of first rollers 23 are arranged side by side in the conveying direction X, and the rotation axis of each of the first rollers 23 is inclined so as to move toward the downstream side X2 in the conveying direction X as it moves toward the first side Y1 in the conveying width direction.

[0016] In the illustrated example, the first end 71 is the upstream end of the first conveyor section 21 and the second conveyor section 22, and the second end 72 is the downstream end of the first conveyor section 21 and the second conveyor section 22. Therefore, the conveying surfaces 21a and 22a approach horizontal on the downstream side X2 of the first conveyor section 21 and the second conveyor section 22, so that when a conveyor connected to the downstream side X2 of the first conveyor section 21 and the second conveyor section 22 has a horizontal conveying surface, the transported object 11 can be transported smoothly at the connection with the conveyor. Note that the first end 71 may be the downstream end of the first conveyor section 21 and the second conveyor section 22, and the second end 72 may be the upstream end of the first conveyor section 21 and the second conveyor section 22. In this case, if the conveyor connected to the upstream side X1 of the first conveyor section 21 and the second conveyor section 22 has a horizontal conveying surface, the object 11 can be transported smoothly at the connection point with the conveyor.

[0017] As shown in Fig. 5, in this embodiment, the surface of the first roller 23, which is a first specific region 23a that is a partial region in the conveying width direction Y, is formed of a material having a higher friction coefficient than the surface of the first outer region 23b that is a region closer to the first side Y1 in the conveying width direction than the first specific region 23a. Also, as shown in Fig. 3, in this embodiment, the first conveyor unit 21 includes a first drive belt 27 that drives the multiple first rollers 23. The first drive belt 27 is configured to contact the lower surfaces of the first outer regions 23b of the multiple first rollers 23 to transmit a driving force. Preferably, the first drive belt 27 is configured not to contact the first specific region 23a.

[0018] 4 to 6, the conveying surface 22a of the second conveyor section 22 is inclined in the conveying width direction Y at the first end 71 so as to be lower on the first side Y1 in the conveying width direction, and is configured so that the inclination angle φ2 with respect to the horizontal plane in the conveying width direction Y gradually decreases toward the second end 72. In this embodiment, as shown in FIG. 1, the second conveyor section 22 is a roller conveyor in which a plurality of second rollers 24 are arranged side by side in the conveying direction X, and the rotation axis of each of the second rollers 24 is inclined so as to be lower on the second side Y2 in the conveying width direction, toward the downstream side X2 in the conveying direction X.

[0019] As shown in Fig. 5, in this embodiment, the surface of the second roller 24, which is a part of the second specific region 24a in the conveying width direction Y, is formed of a material having a higher friction coefficient than the surface of the second outer region 24b, which is a region on the second side Y2 in the conveying width direction relative to the second specific region 24a. Also, as shown in Fig. 4, in this embodiment, the second conveyor unit 22 includes a second drive belt 28 that drives the plurality of second rollers 24. The second drive belt 28 is configured to contact the lower surfaces of the second outer regions 24b of the plurality of second rollers 24 to transmit a driving force. Preferably, the second drive belt 28 is configured not to contact the second specific region 24a.

[0020] In this embodiment, the first conveyor unit 21 is configured to be able to differentiate between a conveying speed V1u (m / s) in a first upstream section 21u, which is a section on the upstream side X1, and a conveying speed V1d (m / s) in a first downstream section 21d, which is a section on the downstream side X2 with respect to the first upstream section 21u. The second conveyor unit 22 is configured to be able to differentiate between a conveying speed V2u (m / s) in a second upstream section 22u, which is a section on the upstream side X1, and a conveying speed V2d (m / s) in a second downstream section 22d, which is a section on the downstream side X2 with respect to the second upstream section 22u. In the illustrated example, the first upstream section 21u and the first downstream section 21d are adjacent to each other in the conveying direction X. The second upstream section 22u and the second downstream section 22d are adjacent to each other in the conveying direction X.

[0021] In this embodiment, the posture adjustment conveyor 20 includes a first drive device 25 that drives the first conveyor section 21 and a second drive device 26 that drives the second conveyor section 22. This allows the conveying speed V1 (m / s) and the conveying speed V2 (m / s) to be different from each other.

[0022] In this embodiment, the first drive device 25 includes a first upstream drive device 25u and a first downstream drive device 25d, and the first upstream drive device 25u drives the first roller 23 in the first upstream section 21u, and the first downstream drive device 25d drives the first roller 23 in the first downstream section 21d, using a first drive belt 27 shown in Fig. 3, thereby making the conveying speeds V1u and V1d different. Also, the second drive device 26 includes a second upstream drive device 26u and a second downstream drive device 26d, and the second drive belt 28 shown in Fig. 4 makes the second upstream drive device 26u drive the second roller 24 in the second upstream section 22u, and the second downstream drive device 26d drive the second roller 24 in the second downstream section 22d, thereby making the conveying speeds V2u and V2d different.

[0023] In this embodiment, the posture adjustment device 10 includes an upstream platform 12 on the upstream side X1 of the posture adjustment conveyor 20. In the illustrated example, the upstream platform 12 is a roller conveyor in which multiple upstream rollers 12a are arranged in the conveying direction X, and the rotation axis of each of the upstream rollers 12a is oriented along the conveying width direction Y. Therefore, the posture S of the conveyed object 11 does not change on the upstream platform 12.

[0024] In this embodiment, the posture adjustment device 10 includes an upstream posture detection device 30u that detects the posture S of the transported object 11 at the upstream end of the posture adjustment conveyor 20. In the example of FIG. 1, the upstream end of the posture adjustment conveyor 20 is the first end 71. Here, the actual posture S of the transported object 11 detected by the upstream posture detection device 30u is referred to as the upstream actual posture Su. The position for detecting the upstream actual posture Su may be the upstream end of the posture adjustment conveyor 20. Furthermore, as long as the posture S of the transported object 11 does not change at the upstream side X1 of the posture adjustment conveyor 20, the position may be further upstream X1 of the upstream end.

[0025] In the illustrated example, the upstream posture detection device 30u detects the posture S of the transported object 11 on the upstream platform 12. As described above, the posture S of the transported object 11 does not change on the upstream platform 12, so the posture S of the transported object 11 detected on the upstream platform 12 by the upstream posture detection device 30u is the same as the upstream actual posture Su, which is the posture S at the upstream end of the posture adjustment conveyor 20. The upstream posture detection device 30u has, for example, a camera 31u provided on the upstream platform 12, and thereby detects the upstream actual angle θ, which is the actual angle of the transported object 11 at the upstream end. U and the upstream actual position P U , that is, the upstream actual attitude Su is detected.

[0026] In this embodiment, the posture adjustment device 10 is provided with a downstream platform 13 on the downstream side X2 of the posture adjustment conveyor 20. In the illustrated example, the downstream platform 13 is a roller conveyor in which multiple downstream rollers 13a are arranged side by side in the conveying direction X, and the rotation axis of each of the downstream rollers 13a is oriented along the conveying width direction Y. Therefore, the posture S of the conveyed object 11 does not change on the downstream platform 13.

[0027] In this embodiment, the posture adjustment device 10 further includes a downstream posture detection device 30d that detects the posture S of the transported object 11 at the downstream end of the posture adjustment conveyor 20. In the example of FIG. 1, the downstream end of the posture adjustment conveyor 20 is the second end 72. Here, the actual posture S of the transported object 11 detected by the downstream posture detection device 30d is referred to as the downstream actual posture Sd. The position at which the downstream actual posture Sd is detected may be the downstream end of the posture adjustment conveyor 20. Furthermore, as long as the posture S of the transported object 11 does not change at the downstream side X2 of the posture adjustment conveyor 20, the position may be further downstream X2 of the downstream end.

[0028] In the illustrated example, the downstream posture detection device 30d detects the posture S of the transported object 11 on the downstream platform 13. As described above, the posture S of the transported object 11 does not change on the downstream platform 13, so the posture S of the transported object 11 detected on the downstream platform 13 by the downstream posture detection device 30d is the same as the downstream actual posture Sd, which is the posture S at the downstream end of the posture adjustment conveyor 20. The downstream posture detection device 30d, for example, has a camera 31d provided on the downstream platform 13, and thereby detects the downstream actual angle θ, which is the actual angle of the transported object 11 at the downstream end. D and the downstream actual position P, which is the actual position of the transported object 11. D , that is, the downstream-side actual attitude Sd is detected. The downstream-side attitude detection device 30d and the upstream-side attitude detection device 30u may be a common device. The downstream-side attitude detection device 30d and the upstream-side attitude detection device 30u may be a common device.

[0029] In this embodiment, the posture adjustment device 10 is equipped with a characteristic determination device 40 that determines the characteristics of the transported object 11 on the upstream side X1 of the posture adjustment conveyor 20. The characteristics of the transported object 11 may be acquired by a characteristic acquisition unit provided in the posture adjustment device 10, or the characteristics may be acquired by transported object information including the characteristics being transmitted from an external device and received by a data acquisition unit 41 provided in the posture adjustment device 10. In this embodiment, the characteristic determination device 40 determines the characteristics acquired by a characteristic acquisition unit provided in the upstream platform 12. In the illustrated example, the upstream posture detection device 30u also functions as a characteristic acquisition unit that acquires characteristics such as the shape of the transported object 11. In addition, a weight measurement unit 42 provided in the upstream platform 12 that acquires characteristics such as the weight and center of gravity also functions as a characteristic acquisition unit.

[0030] In this embodiment, the characteristic determination device 40 sets a characteristic value H representing the resistance to posture change according to the characteristics of the transported object 11. The characteristic of the transported object 11 is preferably the shape of the bottom surface of the transported object 11. The shape of the bottom surface of the transported object 11 may be acquired, for example, by a camera 31u provided on the upstream platform 12 or by a scanning device such as a millimeter-wave CT scanner. The characteristic of the transported object 11 may also be the size, shape, weight, etc. of the transported object 11. Examples of the size of the transported object 11 include the dimension of the long side L1 of the transported object 11, the area in a plan view, the area of ​​the bottom surface, etc. Examples of the shape of the transported object 11 include the ratio of the long side L1 to the short side L2 in a vertical view and the shape of the bottom surface. Examples of the material of the transported object 11 include the material, hardness, surface roughness, etc. of the bottom surface of the transported object 11. A larger value of the characteristic value H indicates that the transported object 11 is less susceptible to posture change. The characteristic value H is preferably set in accordance with the shape of the bottom surface of the object 11, but may also be set in accordance with the above-mentioned multiple characteristics.

[0031] The target posture S of the transported object 11 at the downstream end of the posture adjustment conveyor 20 is defined as a target posture Sr. The posture adjustment device 10 includes a control device 50 that controls the posture adjustment conveyor 20. The control device 50 controls the speed difference ΔV between the conveying speed V1 of the first conveyor section 21 and the conveying speed V2 of the second conveyor section 22 to perform posture adjustment control to change the posture S of the transported object 11 transported across both the first conveyor section 21 and the second conveyor section 22. In the posture adjustment control, the control device 50 increases the speed difference ΔV as the pre-adjustment posture difference ΔSu is larger, which is the difference between the upstream actual posture Su and the target posture Sr, and the characteristic value H, which represents the difficulty of posture change according to the characteristics of the transported object 11 determined by the characteristic determination device 40, and increases the speed difference ΔV as the characteristic value H is larger.

[0032] Preferably, the objects 11 are transported one by one by the posture adjustment conveyor 20, and the speed difference ΔV is controlled by the control device 50. In this case, the speed difference ΔV may be changed while the objects 11 pass over the posture adjustment conveyor 20, but in this embodiment, the speed difference ΔV is not changed from the initial speed difference ΔVa determined based on the pre-adjustment posture difference ΔSu, which is the difference between the upstream actual posture Su and the target posture Sr, and the characteristic value H.

[0033] In this embodiment, for example, the adjustment rate of the conveying speed V1 of the first conveyor section 21 relative to the conveying speed V (m / s) of the posture adjusting conveyor 20 is set to adjustment rate u1 (= 100·V1 / V), and the adjustment rate of the conveying speed V2 of the second conveyor section 22 relative to the conveying speed V of the posture adjusting conveyor 20 is set to adjustment rate u2 (= 100·V2 / V). That is, V1 = V·u1 / 100, V2 = V·u2 / 100, and the conveying speed V1 can be determined from the conveying speed V (m / s) of the posture adjusting conveyor 20 and the adjustment rate u1 (%), and the conveying speed V2 can be determined from the conveying speed V (m / s) and the adjustment rate u2 (%).

[0034] The adjustment rate u1 (%) can be expressed by the following formula (1a), and the adjustment rate u2 (%) can be expressed by the following formula (2a). u1=100+(K θ +K H ·H)·(θU -θ R )+K P (P U -P R )···(1a) u2=100-(K θ +K H ·H)·(θ U -θ R )-K P (P U -P R )···(2a) However, K θ is the weighting coefficient for the angle θ, K P is the weighting coefficient for position P, K H is the weighting coefficient for the characteristic value H, θ R is the target angle at the target posture Sr, P R is the target position at the target posture Sr. Target angle θ R and target position P R corresponds to the target attitude Sr, and the upstream actual angle θ U and upstream actual position P U corresponds to the upstream actual attitude Su.

[0035] The characteristic value H is preferably a value set according to the shape of the bottom surface of the transported object 11, but if the characteristic value H is set according to multiple characteristics, a weighting coefficient for the characteristic value H may be set for each of the multiple characteristics, as shown in the following equation (3a). K H H=K HA H A +K HB H B +K HC H C +K HD H D (3a) In equation (3a), for example, the characteristic value H A is a value according to the shape of the bottom surface of the transported object 11, and the characteristic value H B is the weight, and the characteristic value H C is the value obtained by dividing the long side L1 of the transported object 11 by the short side L2, and the characteristic value H D is the reciprocal of the coefficient of friction of the bottom surface of the object 11 being conveyed.

[0036] In this embodiment, the control device 50 includes a storage unit 52 and a correction processing unit 54. The storage unit 52 stores learning information indicating the relationship between a pre-adjustment attitude difference ΔSu, a characteristic value H, a control coefficient K for determining a speed difference ΔV based on the pre-adjustment attitude difference ΔSu and the characteristic value H, and a post-adjustment attitude difference ΔSd which is the difference between the downstream-side actual attitude Sd, which is the result of the attitude adjustment control, and the target attitude Sr. The correction processing unit 54 corrects the control coefficient K based on the learning information stored in the storage unit 52.

[0037] In this embodiment, for example, the adjustment rate in the first conveyor section 21 for the i-th conveyed object 11 is set to u1 i Then the adjustment rate u1 i can be expressed by the following formula (1b). In addition, the adjustment rate in the second conveyor section 22 for the i-th conveyed object 11 is u2 i Then the adjustment rate u2 i can be expressed by the following equation (2b). u1 i =100+(K θi +K Hi ·H)·(θ U -θ R )+K Pi (P U -P R )···(1b) u2 i =100-(K θi +K Hi ·H)·(θ U -θ R )-K Pi (P U -P R )···(2b) However, K θi is the weighting coefficient for the angle θ, K Pi is the weighting coefficient for position P, K Hi is the weighting coefficient for the characteristic value H.

[0038] The control device 50 adjusts the adjustment rate u1 i and adjustment rate u2 i The angle of the transported object 11 at the downstream end as a result of performing the posture adjustment control based on D , the position is the downstream actual position P DThe angle θ R and position P R corresponds to the target attitude Sr, and the downstream actual angle θ D and downstream actual position P D corresponds to the downstream actual position Sd, and the angle θ D -θ R and position P D -P R corresponds to the adjusted attitude difference ΔSd.

[0039] In this embodiment, the storage unit 52 stores the pre-adjustment attitude difference ΔSu (angle θ U -θ R ,position P U -P R ), the characteristic value H, and a control coefficient K (weighting coefficient K) for determining the velocity difference ΔV based on the pre-adjustment attitude difference ΔSu and the characteristic value H. θi ,K Pi ,K Hi ) and the adjusted attitude difference ΔSd (angle θ D -θ R ,position P D -P R ) and stores learning information indicating the relationship between.

[0040] Furthermore, the weighting coefficient for the angle θ for the (i+1)th transported object 11 is Kθ i+1 , the weighting coefficient for position P is the weighting coefficient KP i+1 , the weighting coefficient for the characteristic value H is the weighting coefficient K Hi+1 Let's say.

[0041] The correction processing unit 54 calculates the control coefficient K (weighting coefficient K) based on the learning information stored in the storage unit 52. θi+1 ,K Pi+1 ,K Hi+1 ) is corrected. Preferably, the control coefficient K is changed when the post-adjustment attitude difference ΔSd is equal to or greater than the threshold value J, and the control coefficient K is not changed when the post-adjustment attitude difference ΔSd is lower than the threshold value J. For example, the angle θ D -θ R The absolute value of the threshold θ J If it is smaller than the weighting factor K Hi+1 is expressed by equation (4b), and the angle θ D -θ RThe absolute value of the threshold θ J In the above cases, the weighting factor K Hi+1 is expressed by equation (5b). K Hi+1 =K Hi (4b) K Hi+1 =K Hi +α···(5b) Here, α is a predetermined correction value. The correction value α is, for example, D -θ R If is positive, it is taken as a positive value, and the angle θ D -θ R If the threshold J and the threshold θ are negative, they are treated as negative values. J The correction value α can be determined by experimentation, machine learning, or the like.

[0042] Second Embodiment The following describes the posture adjustment device 10 according to the second embodiment with reference to the drawings. FIG. 7 is a block diagram showing the control configuration of the posture adjustment device 10 of this embodiment. FIG. 8 is a top view of the posture adjustment conveyor 20 of this embodiment. This embodiment differs from the first embodiment in that the posture adjustment device 10 is equipped with an in-transport posture detection device 30m. The following description will focus on the differences from the first embodiment. Note that points that are not particularly described are the same as those in the first embodiment.

[0043] 7 and 8, in this embodiment, the posture adjustment device 10 further includes an in-transfer posture detection device 30m that detects the posture S of the transported object 11 over the entire area of ​​the posture adjustment conveyor 20. The actual posture S of the transported object 11 detected by the in-transfer posture detection device 30m is referred to as the in-transfer actual posture Sm. In the illustrated example, the posture adjustment conveyor 20 is provided with the in-transfer posture detection device 30m. This in-transfer posture detection device 30m includes, for example, a camera 31m provided on the posture adjustment conveyor 20, and thereby detects an in-transfer actual angle θ, which is the actual angle of the transported object 11 over the entire area of ​​the posture adjustment conveyor 20. M and the actual position P during conveyance, which is the actual position of the conveyed object 11. M , that is, the solid posture Sm during transportation is detected.

[0044] In this embodiment, the control device 50 determines the initial speed difference ΔVa based on the pre-adjustment posture difference ΔSu, which is the difference between the upstream actual posture Su and the target posture Sr, and the characteristic value H. Then, while the posture adjustment conveyor 20 is transporting the transported object 11, the control device 50 determines the speed difference ΔV as needed based on the posture difference during transport ΔSm, which is the difference between the actual posture Sm during transport and the target posture Sr, and the characteristic value H, so that the speed difference ΔV increases as the posture difference during transport ΔSm increases and the speed difference ΔV increases as the characteristic value H increases.

[0045] In this embodiment, the speed difference ΔV is changed as needed during the transport of the object 11 by determining as needed the adjustment rate u1m (=100·V1 / V) of the transport speed V1 of the first conveyor section 21 relative to the transport speed V (m / s) of the posture adjusting conveyor 20, and the adjustment rate u2m (=100·V2 / V) of the transport speed V2 of the second conveyor section 22 relative to the transport speed V of the posture adjusting conveyor 20. The adjustment rate u1m (%) during the transport of the object 11 can be expressed by the following equation (1c), and the adjustment rate u2m (%) can be expressed by the following equation (2c). u1=100+(K θ +K H ·H)·(θ M -θ R )+K P (P M -P R )···(1c) u2=100-(K θ +K H ·H)·(θ M -θ R )-K P (P M -P R )···(2c) Conveying solid angle θ M and the solid position P during transport M corresponds to the solid posture Sm during transportation, and the angle θ M -θ R and position P M -P R corresponds to the posture difference during transportation ΔSm.

[0046] In this embodiment, after determining the initial speed difference ΔVa, the control device 50 adjusts the posture difference ΔSm (angle θ M -θ R ,position P M -P R ) and characteristic value H, the posture difference during transportation ΔSm (angle θ M -θ R ,position P M -P R ) increases, and the speed difference ΔV increases as the characteristic value H increases. When the control device 50 changes the speed difference ΔV according to the magnitude of the posture difference ΔSm during transport, a proportional-integral control operation (PI control operation), a proportional-integral-derivative control operation (PID control operation), or the like may be used. In this embodiment, it is preferable that the control device 50 includes a memory unit 52 and a correction processing unit 54, but the control device 50 does not have to include the memory unit 52 and the correction processing unit 54.

[0047] Third Embodiment The following describes the posture adjustment device 10 according to the third embodiment with reference to the drawings. FIG. 9 is a block diagram showing the control configuration of the posture adjustment device 10 according to this embodiment. This embodiment differs from the second embodiment in that the posture adjustment conveyor 20 includes a third conveyor section 121 and a fourth conveyor section 122. The following mainly describes the differences from the second embodiment. Note that points not specifically described are the same as those in the second embodiment. In this embodiment, the first conveyor section 21 is not divided into a first upstream section 21u and a first downstream section 21d, but this may be the case. Similarly, in this embodiment, the second conveyor section 22 is not divided into a second upstream section 22u and a second downstream section 22d, but this may be the case.

[0048] In this embodiment, the posture adjusting conveyor 20 further includes a third conveyor section 121 disposed on the downstream side X2 relative to the first conveyor section 21, and a fourth conveyor section 122 disposed on the downstream side X2 relative to the second conveyor section 22 and disposed on the second side Y2 in the conveying width direction relative to the third conveyor section 121. The posture adjusting conveyor 20 is configured so that the conveying speed V3 (m / s) of the third conveyor section 121 and the conveying speed V4 (m / s) of the fourth conveyor section 122 can be made different. In the illustrated example, the first conveyor section 21 and the third conveyor section 121 are adjacent to each other. The second conveyor section 22 and the fourth conveyor section 122 are adjacent to each other.

[0049] Here, one of the upstream end and downstream end of each of the third conveyor section 121 and the fourth conveyor section 122 is referred to as the third end 73, and the other is referred to as the fourth end 74. Preferably, the first end 71 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122.

[0050] Fig. 10 is a side view of the first conveyor section 21 and the third conveyor section 121 as viewed from the first side Y1 in the conveying width direction. Fig. 11 is a side view of the second conveyor section 22 and the fourth conveyor section 122 as viewed from the second side Y2 in the conveying width direction. In this embodiment, the third conveyor section 121 includes a plurality of third rollers 123, and the fourth conveyor section 122 includes a plurality of fourth rollers 124. Fig. 12 is a front view of the third rollers 123 and the fourth rollers 124 as viewed from the upstream side X1 in the conveying direction X. Fig. 13 is a perspective view of the first roller 23, the second roller 24, the third roller 123, and the fourth roller 124.

[0051] 10, 12, and 13, the conveying surface 121a of the third conveyor section 121 is inclined in the conveying width direction Y at the third end 73 so as to become lower Z2 in the up-down direction Z as it moves toward the second side Y2 in the conveying width direction, and is configured so that the inclination angle φ3 with respect to the horizontal plane in the conveying width direction Y gradually decreases as it moves toward the fourth end 74. In this embodiment, as shown in FIG. 9, the third conveyor section 121 is a roller conveyor in which a plurality of third rollers 123 are arranged side by side in the conveying direction X, and the rotation axis of each of the third rollers 123 is inclined so as to move toward the downstream side X2 in the conveying direction X as it moves toward the first side Y1 in the conveying width direction.

[0052] As shown in Fig. 12, in this embodiment, the surface of the third roller 123, which is a partial region in the conveying width direction Y, is formed of a material having a higher friction coefficient than the surface of the third specific region 123a, which is a region closer to the first side Y1 in the conveying width direction than the third specific region 123a. Also, as shown in Fig. 10, in this embodiment, the third conveyor unit 121 includes a third drive belt 127 that drives the plurality of third rollers 123. The third drive belt 127 is configured to contact the lower surfaces of the third outer regions 123b of the plurality of third rollers 123 to transmit a driving force. Preferably, the third drive belt 127 is configured not to contact the third specific region 123a.

[0053] 11 to 13, the conveying surface 122a of the fourth conveyor section 122 is inclined in the conveying width direction Y at the third end 73 so as to become lower Z2 in the up-down direction Z as it moves toward the first side Y1 in the conveying width direction, and is configured so that the inclination angle φ4 with respect to the horizontal plane in the conveying width direction Y gradually decreases as it moves toward the fourth end 74. In this embodiment, as shown in Fig. 9, the fourth conveyor section 122 is a roller conveyor in which a plurality of fourth rollers 124 are arranged side by side in the conveying direction X, and the rotation axis of each of the fourth rollers 124 is inclined so as to move toward the downstream side X2 in the conveying direction X as it moves toward the second side Y2 in the conveying width direction.

[0054] As shown in FIG. 12, in this embodiment, the surface of the fourth roller 124, which is a partial region in the conveying width direction Y, is formed of a material having a higher friction coefficient than the surface of the fourth specific region 124a, which is a region closer to the second side Y2 in the conveying width direction than the fourth specific region 124a. Also, as shown in FIG. 11, in this embodiment, the fourth conveyor unit 122 includes a fourth drive belt 128 that drives the multiple fourth rollers 124. The fourth drive belt 128 is configured to contact the lower surfaces of the fourth outer regions 124b of the multiple fourth rollers 124 to transmit a driving force. Preferably, the fourth drive belt 128 is configured not to contact the fourth specific region 124a.

[0055] In this embodiment, the posture adjustment conveyor 20 includes a third drive device 125 that drives the third conveyor section 121 and a fourth drive device 126 that drives the fourth conveyor section 122. This allows the posture adjustment conveyor 20 to make the conveying speed V3 (m / s) of the third conveyor section 121 and the conveying speed V4 (m / s) of the fourth conveyor section 122 different.

[0056] 10, the third driving device 125 drives the third roller 123 by a third driving belt 127. In the example shown in FIG. 10, the fourth driving device 126 drives the fourth roller 124 by a fourth driving belt 128. This allows the posture adjusting conveyor 20 to make the conveying speed V1 (m / s) of the first conveyor section 21 and the conveying speed V3 (m / s) of the third conveyor section 121 different. It is also possible to make the conveying speed V2 (m / s) of the second conveyor section 22 and the conveying speed V4 (m / s) of the fourth conveyor section 122 different.

[0057] [Fourth embodiment] The following describes the posture adjustment device 10 according to the fourth embodiment with reference to the drawings. FIG. 14 is a side view of the second conveyor section 22 and the fourth conveyor section 122 of this embodiment as viewed from the second side Y2 in the conveying width direction. This embodiment differs from the third embodiment in that the conveying surfaces 121a of the third conveyor section 121 and the fourth conveyor section 122 are configured to be substantially horizontal. The following description will focus on the differences from the third embodiment. Note that points not specifically described are the same as those in the third embodiment.

[0058] In the example of Figure 14, the first end 71 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122.

[0059] In this embodiment, the conveying surfaces 121a of the third conveyor section 121 and the fourth conveyor section 122 are configured to be approximately horizontal. Specifically, the rotation axes of the third roller 123 and the fourth roller 124 are arranged so as to be along a horizontal plane. In this manner, the first conveyor section 21 and the second conveyor section 22 can appropriately adjust the posture of the transported object 11 whose bottom surface is curved so as to protrude downward Z2, and the third conveyor section 121 and the fourth conveyor section 122 can appropriately adjust the posture of the transported object 11 whose bottom surface is flat or nearly flat. Therefore, the posture of the transported object 11 with various bottom shapes can be appropriately adjusted.

[0060] Other Embodiments Next, other embodiments of the attitude adjustment device 10 will be described.

[0061] (1) In the above embodiment, the first conveyor section 21, the second conveyor section 22, the third conveyor section 121, and the fourth conveyor section 122 of the posture adjustment conveyor 20 are roller conveyors. However, without being limited to such a configuration, for example, the first conveyor section 21, the second conveyor section 22, the third conveyor section 121, and the fourth conveyor section 122 may be configured as a belt conveyor, a chain conveyor, or other known conveyors.

[0062] (2) In the above embodiment, an example has been described in which the rotational axes of the first roller 23 and the third roller 123 are inclined toward the downstream side X2 in the conveying direction X as they move toward the first side Y1 in the conveying width direction, and the rotational axes of the second roller 24 and the fourth roller 124 are inclined toward the downstream side X2 in the conveying direction X as they move toward the second side Y2 in the conveying width direction. However, the present invention is not limited to such a configuration, and for example, the rotational axes of the first roller 23, the second roller 24, the third roller 123, and the fourth roller 124 may be parallel to the conveying width direction Y.

[0063] (3) In the above embodiment, the first conveyor section 21 of the posture adjustment conveyor 20 is driven by the first drive unit 25, and the second conveyor section 22 is driven by the second drive unit 26. However, the present invention is not limited to such a configuration. For example, the first upstream section 21u and the first downstream section 21d of the first conveyor section 21 and the second upstream section 22u and the second downstream section 22d of the second conveyor section 22 may be driven by a common drive unit, and a transmission may be provided to change the transmission ratio of the rotation from the drive unit. Furthermore, the conveying speeds of the first upstream section 21u and the first downstream section 21d of the first conveyor section 21 may not be different. Furthermore, the conveying speeds of the second upstream section 22u and the second downstream section 22d of the second conveyor section 22 may not be different.

[0064] (4) In the above-mentioned embodiments 2 and 3, a configuration was described as an example in which the first end 71 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122. Furthermore, in the above-described fourth embodiment, an example configuration has been described in which the first end 71 is the upstream end of the first conveyor section 21 and the second conveyor section 22, the second end 72 is the downstream end of the first conveyor section 21 and the second conveyor section 22, the third end 73 is the upstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 is the downstream end of the third conveyor section 121 and the fourth conveyor section 122. However, without being limited to such a configuration, for example, the third end 73 may be the downstream end of the third conveyor section 121 and the fourth conveyor section 122, and the fourth end 74 may be the upstream end of the third conveyor section 121 and the fourth conveyor section 122.

[0065] (5) In the above third and fourth embodiments, an example has been described in which the conveying speed V1 of the first conveyor section 21 and the conveying speed V3 of the third conveyor section 121 can be made different from each other. However, without being limited to such an example, for example, the third drive device 125 and the fourth drive device 126 may be a common device, and the first conveyor section 21 and the third conveyor section 121 may have a common conveying speed. Similarly, the second conveyor section 22 and the fourth conveyor section 122 may have a common conveying speed.

[0066] (6) In the above embodiment, an example has been described in which the attitude adjustment device 10 includes the upstream attitude detection device 30u, the downstream attitude detection device 30d, and the characteristic determination device 40, and the control device 50 includes the memory unit 52 and the correction processing unit 54. However, the present invention is not limited to this example. For example, the attitude adjustment device 10 may not include the downstream attitude detection device 30d, and the control device 50 may not include the memory unit 52 and the correction processing unit 54. Furthermore, the attitude adjustment device 10 may not include the upstream attitude detection device 30u and the characteristic determination device 40.

[0067] (7) In the above-described first embodiment, the posture adjustment device 10 is described as having an upstream posture detection device 30u, a characteristic determination device 40, and a downstream posture detection device 30d. However, the present invention is not limited to such a configuration. For example, the upstream posture detection device 30u or the downstream posture detection device 30d may also serve as the upstream posture detection device 30u, the downstream posture detection device 30d, and the characteristic determination device 40. Furthermore, in the above-described second to fourth embodiments, the posture adjustment device 10 is described as having an upstream posture detection device 30u, a characteristic determination device 40, a during-transport posture detection device 30m, and a downstream posture detection device 30d. However, the present invention is not limited to such a configuration. For example, the during-transport posture detection device 30m may also serve as the upstream posture detection device 30u, the during-transport posture detection device 30m, the downstream posture detection device 30d, and the characteristic determination device 40.

[0068] (8) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0069] [Summary of the above embodiment] The above-described attitude adjustment device will now be described.

[0070] The posture adjustment device according to the present disclosure is a posture adjustment device for adjusting the posture of a transported object, and includes a posture adjustment conveyor that adjusts the posture of the transported object while transporting the transported object along a specified transport direction, a direction perpendicular to the transport direction being a transport width direction, the posture adjustment conveyor including a first conveyor section and a second conveyor section arranged in parallel so as to be adjacent to each other in the transport width direction, and configured so that the transport speed of the first conveyor section and the transport speed of the second conveyor section can be made different, the side of the transport width direction on which the first conveyor section is arranged relative to the second conveyor section is defined as a first transport width direction side, and the opposite side is defined as a second transport width direction side, and the first conveyor section and the second conveyor section are configured so that the first conveyor section and the second conveyor section are configured so that the first conveyor section and the second conveyor section are configured so that the second conveyor section and the first ... first conveyor section and the second conveyor section are configured so that the second conveyor section and the first conveyor section are configured so that the second conveyor section and the first conveyor section are configured so that the second conveyor section and the first conveyor section are configured so that the second conveyor section and the first conveyor section are configured so that the second conveyor One of the upstream end and the downstream end of each of the conveyors is designated as a first end, and the other is designated as a second end. The conveying surface of the first conveyor section is inclined in the conveying width direction so as to become vertically lower as it approaches the second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end. The conveying surface of the second conveyor section is inclined in the conveying width direction so as to become vertically lower as it approaches the first side in the conveying width direction, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end.

[0071] According to this configuration, when the bottom surface of the transported object is curved so that it protrudes downward in the vertical direction, it is easier to ensure a large contact area between the bottom surface of the transported object and the conveying surface of the posture adjusting conveyor by inclining the conveying surface of the posture adjusting conveyor so that the vicinity of the boundary between the first conveyor section and the second conveyor section is at the bottom in the vertical direction. On the other hand, when the bottom surface of the transported object is flat or nearly flat, it is easier to ensure a large contact area between the bottom surface of the transported object and the conveying surface of the posture adjusting conveyor by making the conveying surface of the posture adjusting conveyor flat. According to this configuration, for transported objects whose bottom surface is curved so that it protrudes downward, appropriate posture adjustment can be performed in the section near the first end, and for transported objects whose bottom surface is flat or nearly flat, appropriate posture adjustment can be performed in the section near the second end. Therefore, appropriate posture adjustment can be performed for transported objects with various bottom shapes.

[0072] In one embodiment, the first conveyor unit is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction, and the surface of each of the first rollers in a first specific region, which is a partial region in the conveying width direction, is formed of a material having a higher friction coefficient than a first outer region, which is a region on a first side in the conveying width direction than the first specific region; the second conveyor unit is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction, and the surface of each of the second rollers in a second specific region, which is a partial region in the conveying width direction, is formed of a material having a higher friction coefficient than a second outer region, which is a region on a second side in the conveying width direction than the second specific region; the first conveyor unit is provided with a first drive belt that drives the plurality of first rollers, and the first drive belt is configured to contact lower surfaces of the plurality of first rollers in the first outer region to transmit a driving force; and the second conveyor unit is provided with a second drive belt that is configured to contact lower surfaces of the plurality of second rollers in the second outer region to transmit a driving force.

[0073] This configuration effectively changes the posture of objects that have come close to the boundary between the first and second conveyor sections, for example, near the center of the conveyor width on a posture-adjusting conveyor. Furthermore, while a high coefficient of friction at the contact points with the drive belt can easily cause wear on the drive belt and rollers, this configuration can easily prevent this.

[0074] In one embodiment, the first conveyor section is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction, and the rotation axis of each of the first rollers is inclined toward the downstream side of the conveying direction as it moves toward the first side in the conveying width direction, and the second conveyor section is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction, and the rotation axis of each of the second rollers is inclined toward the downstream side of the conveying direction as it moves toward the second side in the conveying width direction.

[0075] According to this configuration, while the object is being transported by the posture adjusting conveyor, the object can be gradually moved near the boundary between the first conveyor section and the second conveyor section, for example, near the center of the posture adjusting conveyor in the transport width direction. Therefore, while the object is being transported by the posture adjusting conveyor, the position of the object in the transport width direction can also be adjusted.

[0076] In one embodiment, the posture adjustment conveyor further includes a third conveyor section disposed downstream of the first conveyor section, and a fourth conveyor section disposed downstream of the second conveyor section and disposed on the second side in the conveying width direction of the third conveyor section, and is configured so that the conveying speed of the third conveyor section and the conveying speed of the fourth conveyor section can be made different, and one of the upstream end and the downstream end of each of the third conveyor section and the fourth conveyor section is designated as a third end, and the other is designated as a fourth end, and the conveying speed of the third conveyor section is set to a It is preferable that the conveying surface is inclined in the conveying width direction at the third end so as to become lower in the vertical direction as it approaches the second side in the conveying width direction, and that the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end, and that the conveying surface of the fourth conveyor section is inclined in the conveying width direction at the third end so as to become lower in the vertical direction as it approaches the first side in the conveying width direction, and that the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end.

[0077] According to this configuration, the posture of the transported object can be changed not only on the first conveyor section and the second conveyor section, but also on the third conveyor section and the fourth conveyor section, thereby enabling more effective posture adjustment of the transported object.

[0078] In one embodiment, it is preferable that the first end is the downstream end of the first conveyor section and the second conveyor section, the second end is the upstream end of the first conveyor section and the second conveyor section, the third end is the upstream end of the third conveyor section and the fourth conveyor section, and the fourth end is the downstream end of the third conveyor section and the fourth conveyor section.

[0079] According to this configuration, the first and second conveyor sections have a gentle widthwise slope at their upstream ends and a steeper widthwise slope at their downstream ends. Next, the third and fourth conveyor sections can be configured to have a steeper widthwise slope at their upstream ends and a gentler widthwise slope at their downstream ends. This allows for effective posture adjustment, and also allows for smooth transport of transported objects at the connection points with the conveyors connected upstream of the first and second conveyor sections and the conveyors connected downstream of the third and fourth conveyor sections, when these conveyors have horizontal transport surfaces.

[0080] In one embodiment, it is preferable that the first end is the upstream end of the first conveyor section and the second conveyor section, and the second end is the downstream end of the first conveyor section and the second conveyor section.

[0081] According to this configuration, since the conveying surface approaches horizontal on the downstream side of the first and second conveyor sections, when a conveyor connected downstream of the first and second conveyor sections has a horizontal conveying surface, the conveyed object can be smoothly conveyed even at the connection section with the conveyor, thereby facilitating stable conveyance of the conveyed object in the conveying direction. [Industrial Applicability]

[0082] The technology disclosed herein can be used in a conveyor-type transport device equipped with an attitude adjustment device. [Explanation of symbols]

[0083] 10: Posture adjustment device 11: Transported goods 20: Posture adjustment conveyor 21: First conveyor section 21a: conveying surface 22: Second conveyor section 22a: conveying surface 23: First roller 23a: 1st specific area 23b: 1st outer area 24: Second roller 24a:Second specific area 24b: Second outer area 27: First drive belt 28: Second drive belt 71:First end 72:Second end 73:Third end 74: 4th end 121: Third conveyor section 121a: conveying surface 122: 4th conveyor section 122a: conveying surface 123: Third Roller 123a: Third specific area 123b: Third outer area 124: 4th Roller 124a: 4th specific area 124b: 4th outer area 127: Third drive belt 128: 4th drive belt S: Posture V1: Transport speed of the first conveyor V2: Transport speed of the second conveyor V3: Transport speed of the third conveyor V4: Conveying speed of the 4th conveyor φ1: Inclination angle φ2: Inclination angle φ3: Incline angle φ4: Incline angle

Claims

1. A posture adjustment device for adjusting the posture of a transported object, a posture adjusting conveyor that adjusts the posture of the object while conveying the object along a specified conveying direction, The direction perpendicular to the conveying direction is the conveying width direction, the posture adjustment conveyor includes a first conveyor section and a second conveyor section arranged in parallel so as to be adjacent to each other in the conveyance width direction, and is configured so that the conveyance speed of the first conveyor section and the conveyance speed of the second conveyor section can be made different; a first end portion of the first conveyor section and a second end portion of the second conveyor section, the first end portion being a first end portion of the first conveyor section and the second conveyor section being a second end portion; the conveying surface of the first conveyor section is inclined in the conveying width direction so as to be lower in the vertical direction as it approaches the second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the conveying surface of the second conveyor section is inclined in the conveying width direction so as to be lower in the up-down direction as it approaches the first side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the posture adjustment conveyor further includes a third conveyor section disposed downstream of the first conveyor section, and a fourth conveyor section disposed downstream of the second conveyor section and on the second side in the conveyance width direction of the third conveyor section, and is configured so that the conveyance speed of the third conveyor section and the conveyance speed of the fourth conveyor section can be made different; one of an upstream end and a downstream end of each of the third conveyor section and the fourth conveyor section is designated as a third end, and the other is designated as a fourth end, the conveying surface of the third conveyor section is inclined in the conveying width direction so as to be lower in the up-down direction as it approaches the second side in the conveying width direction at the third end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end, An attitude adjustment device in which the conveying surface of the fourth conveyor section is inclined in the conveying width direction so that it becomes lower in the vertical direction as it approaches the first side in the conveying width direction at the third end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the fourth end.

2. A posture adjustment device for adjusting the posture of a transported object, a posture adjusting conveyor that adjusts the posture of the object while conveying the object along a specified conveying direction, The direction perpendicular to the conveying direction is the conveying width direction, the posture adjustment conveyor includes a first conveyor section and a second conveyor section arranged in parallel so as to be adjacent to each other in the conveyance width direction, and is configured so that the conveyance speed of the first conveyor section and the conveyance speed of the second conveyor section can be made different; a first end portion of the first conveyor section and a second end portion of the second conveyor section, the first end portion being a first end portion of the first conveyor section and the second conveyor section being a second end portion; the conveying surface of the first conveyor section is inclined in the conveying width direction so as to be lower in the vertical direction as it approaches the second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the conveying surface of the second conveyor section is inclined in the conveying width direction so as to be lower in the up-down direction as it approaches the first side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the first conveyor unit is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction, a surface of a first specific region, which is a partial region in the conveying width direction, of the first roller is formed of a material having a higher friction coefficient than a first outer region, which is a region on a first side in the conveying width direction than the first specific region; the second conveyor unit is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction, a surface of a second specific region, which is a partial region in the conveying width direction, of the second roller is formed of a material having a higher friction coefficient than a second outer region, which is a region on a second side in the conveying width direction than the second specific region; the first conveyor section includes a first drive belt that drives the first rollers; the first drive belt is configured to contact lower surfaces of the first outer regions of the first rollers to transmit a drive force; the second conveyor section includes a second drive belt that drives the second rollers; The second drive belt is configured to contact lower surfaces of the second outer regions of the second rollers to transmit a driving force.

3. A posture adjustment device for adjusting the posture of a transported object, a posture adjusting conveyor that adjusts the posture of the object while conveying the object along a specified conveying direction, The direction perpendicular to the conveying direction is the conveying width direction, the posture adjustment conveyor includes a first conveyor section and a second conveyor section arranged in parallel so as to be adjacent to each other in the conveyance width direction, and is configured so that the conveyance speed of the first conveyor section and the conveyance speed of the second conveyor section can be made different; a first end portion of the first conveyor section and a second end portion of the second conveyor section, the first end portion being a first end portion of the first conveyor section and the second conveyor section being a second end portion; the conveying surface of the first conveyor section is inclined in the conveying width direction so as to be lower in the vertical direction as it approaches the second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the conveying surface of the second conveyor section is inclined in the conveying width direction so as to be lower in the up-down direction as it approaches the first side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the first conveyor unit is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction, the first conveyor section includes a first drive belt that drives the first rollers; the first drive belt is configured to contact lower surfaces of a first outer region, which is a region on a first side in the conveying width direction relative to a first specific region, which is a partial region of the first rollers in the conveying width direction, and to transmit a driving force; the second conveyor unit is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction, the second conveyor section includes a second drive belt that drives the second rollers; The second drive belt is configured to contact the underside of a second outer region, which is a region on the second side in the conveying width direction than a second specific region, which is a portion of the second rollers in the conveying width direction, to transmit a driving force.

4. A posture adjustment device for adjusting the posture of a transported object, a posture adjusting conveyor that adjusts the posture of the object while conveying the object along a specified conveying direction, The direction perpendicular to the conveying direction is the conveying width direction, the posture adjustment conveyor includes a first conveyor section and a second conveyor section arranged in parallel so as to be adjacent to each other in the conveyance width direction, and is configured so that the conveyance speed of the first conveyor section and the conveyance speed of the second conveyor section can be made different; a first end portion of the first conveyor section and a second end portion of the second conveyor section, the first end portion being a first end portion of the first conveyor section and the second conveyor section being a second end portion; the conveying surface of the first conveyor section is inclined in the conveying width direction so as to be lower in the vertical direction as it approaches the second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the conveying surface of the second conveyor section is inclined in the conveying width direction so as to be lower in the up-down direction as it approaches the first side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the first conveyor unit is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction, a surface of a first specific region, which is a partial region in the conveying width direction, of the first roller is formed of a material having a higher friction coefficient than a first outer region, which is a region on a first side in the conveying width direction than the first specific region; the second conveyor unit is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction, The second roller has a second specific region, which is a part of the conveying width direction, and the surface of the second specific region is formed from a material having a higher friction coefficient than a second outer region, which is a region on the second side of the conveying width direction from the second specific region.

5. A posture adjustment device for adjusting the posture of a transported object, a posture adjusting conveyor that adjusts the posture of the object while conveying the object along a specified conveying direction, The direction perpendicular to the conveying direction is the conveying width direction, the posture adjustment conveyor includes a first conveyor section and a second conveyor section arranged in parallel so as to be adjacent to each other in the conveyance width direction, and is configured so that the conveyance speed of the first conveyor section and the conveyance speed of the second conveyor section can be made different; a first end portion of the first conveyor section and a second end portion of the second conveyor section, the first end portion being a first end portion of the first conveyor section and the second conveyor section being a second end portion; the conveying surface of the first conveyor section is inclined in the conveying width direction so as to be lower in the vertical direction as it approaches the second side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the conveying surface of the second conveyor section is inclined in the conveying width direction so as to be lower in the up-down direction as it approaches the first side in the conveying width direction at the first end, and the inclination angle with respect to the horizontal plane in the conveying width direction gradually decreases as it approaches the second end, the first ends are the downstream ends of the first and second conveyor sections; The second end is the upstream end of the first conveyor section and the second conveyor section.

6. the first conveyor unit is a roller conveyor in which a plurality of first rollers are arranged in the conveying direction, a rotation axis of each of the first rollers inclined toward the downstream side in the conveying direction as it moves toward the first side in the conveying width direction; the second conveyor unit is a roller conveyor in which a plurality of second rollers are arranged in the conveying direction, The attitude adjustment device according to claim 1 , wherein the rotation axis of each of the second rollers is inclined toward a downstream side in the transport direction as it moves toward the second side in the transport width direction.

7. the first ends are the upstream ends of the first and second conveyor sections; The attitude adjustment device according to claim 1 , wherein the second end is the downstream end of the first conveyor section and the second conveyor section.

8. the first ends are the downstream ends of the first and second conveyor sections; the second ends are the upstream ends of the first and second conveyor sections; the third end is the upstream end of the third conveyor section and the fourth conveyor section; The attitude adjustment device of claim 1 , wherein the fourth end is the downstream end of the third conveyor section and the fourth conveyor section.

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